PtP control of Pneumatic Soft Robot PAUL

This video complements the article García-Samartín, J.F. et al, "Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm".
It shows in action the robot presented in the article, nammed PAUL (Pneumatic Articulalted Ultrasoft Limb). PAUL is modular pneumatic soft manipulator with five degrees of freedom, performing two experiments.
The first one consists of evaluating the accuracy of the inverse kinematics. To do this, the robot is asked to reach a series of previously indicated points. The laser pointer at its end allows us to see how these points are reached with relative precision. In the second experiment, PAUL's bending capacity is evaluated, as flexibility is one of its most notable advantages and makes Soft Robotics a field with a wide range of applications.
Abstract:
Soft robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced control methods. This research is centred on the design, fabrication, and control of a pneumatic soft robot. The principal objective is to develop a modular soft robot featuring multiple segments, each one with three degrees of freedom. This yields a tubular structure with five independent degrees of freedom, enabling motion across three spatial dimensions. Physical construction leverages tin-cured silicone and a wax-casting method, refined through an iterative processes. PLA moulds that are 3D-printed and filled with silicone yield the desired model, while bladder-like structures are formed within using solidified paraffin wax-positive moulds. For control, an empirically fine-tuned open-loop system is adopted. This paper culminates in rigorous testing. Finally, the bending ability, weight-carrying capacity, and possible applications are~discussed.
Cite: García-Samartín, J.F.; Rieker, A.; Barrientos, A. Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm. Actuators, 2024